To quantitatively evaluate the results achieved, we have adapted our processing pipeline to read pre-recorded and rectified imagery from memory.
We have used the KITTI Stereo 2015 benchmark [1]} for evaluation, cropping a *RoI of size 640\(\times \) 360 in order to not alter the algorithm.
fig:resultskitti shows exemplary results achieved by our algorithm.
While the middle column (fig:kittiabsdiff) contains the results achieved when using the *SAD similarity measure, the results in the right column (fig:kitticensus) reveal that a use of the *CT allows a more robust matching between the input images and thus yielding results that are more accurate and hold less pixels that are invalidated due to inconsistencies in the left-right check.
These observations are justified by the contents of tab:resultkitti, holding the quantitative measurements w.r.t. to the benchmark. The performance of our algorithm on subsequence of the benchmark is given at: https://youtu.be/gzIFqUmqM7g.
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